Tango Spacecraft Dataset for Monocular Pose Estimation

The "Tango Spacecraft Dataset for Monocular Pose Estimation" dataset here published should be used for relative pose estimation tasks. It is split into 30002 train images and 3002 test images representing the Tango spacecraft from Prisma mission, being the largest publicly available dataset of synthetic space-borne noise-free images tailored to pose estimation tasks (up to our knowledge). The label of each image gives relative quaternion (in scalar-last format) between Tango and the camera (hence the relative position of the target with respect to the camera in camera reference frame) and the relative position of Tango with respect to the camera in camera reference frame.